CN111572513A - Brake release control method, system, device, vehicle and storage medium - Google Patents
Brake release control method, system, device, vehicle and storage medium Download PDFInfo
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- CN111572513A CN111572513A CN202010398866.8A CN202010398866A CN111572513A CN 111572513 A CN111572513 A CN 111572513A CN 202010398866 A CN202010398866 A CN 202010398866A CN 111572513 A CN111572513 A CN 111572513A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
Abstract
The invention discloses a brake release control method, a system, a device, a vehicle and a storage medium, wherein the method comprises the following steps: the method comprises the steps of determining the current road working condition of a vehicle in a parking braking state of a brake, wherein the current road working condition comprises a level road working condition and a ramp working condition, releasing the brake after receiving a gear shifting signal when the current road working condition is the level road working condition, determining whether the vehicle needs to balance torque according to the gear shifting signal after receiving the gear shifting signal when the current road working condition is the ramp working condition, and releasing the brake when the vehicle does not need to balance the torque. The brake release control method can adopt different brake release control strategies according to the current road working condition: under the working condition of a flat road, after receiving a gear shifting signal, immediately releasing a brake to realize quick starting; under the working condition of a ramp, after the gear shifting signal is received, when the balance torque is determined not to be needed, the brake is released immediately, smooth, convenient and fast starting without clamping stagnation is realized, and the risk of sudden acceleration is avoided.
Description
Technical Field
The embodiment of the invention relates to the technical field of automobile control, in particular to a brake release control method, a brake release control system, a brake release control device, a vehicle and a storage medium.
Background
Along with the popularization of automobile electronic control technology, electronic control products and functions are more and more applied to the whole automobile. Brake control technology is also rapidly transitioning from traditional mechanical control to electronic control, logical control, and is rapidly gaining market acceptance. Besides meeting the regulatory requirements of the existing Brake system, the electronic calipers in an Electronic Parking Brake (EPB) system have obvious advantages in the aspects of response speed, control precision and flexibility of control logic compared with the traditional calipers, and are mainstream products of brakes in the market at present. Especially in new energy automobile, the loading rate of electronic calipers is higher and higher.
In the existing Electronic caliper release strategy, after the Electronic caliper parking brake state is changed from the current gear to the power gear, i.e., the forward gear (D gear) or the reverse gear (R gear), an Electronic Stability Program (ESP) receives a throttle signal, and then the Electronic caliper is controlled to release.
However, due to the inherent time length caused by the mechanical structure of the electronic caliper release, the electronic caliper can complete the release action only after the ESP receives the throttle signal and the time delay is about 800 milliseconds. This results in a dragging sensation when the vehicle is started and the vehicle is started slowly.
Disclosure of Invention
The invention provides a brake release control method, a brake release control system, a brake release control device, a vehicle and a storage medium, and aims to solve the technical problem that the vehicle starts slowly due to the existing brake release strategy.
In a first aspect, an embodiment of the present invention provides a brake release control method, including:
determining the current road working condition of the vehicle in a brake parking braking state; the current road working condition comprises a flat road working condition and a ramp working condition;
when the current road working condition is a flat road working condition, releasing the brake after receiving a gear shifting signal;
when the current road working condition is a ramp working condition, after the gear shifting signal is received, determining whether the vehicle needs to balance torque according to the gear shifting signal;
releasing the brake when it is determined that the vehicle does not require balancing torque.
In the method as described above, after determining whether the vehicle requires an equilibrium torque based on the shift signal, the method further comprises:
when the vehicle is determined to need to balance the torque, determining whether the torque is balanced according to the output torque of the vehicle and the resistance of the vehicle;
releasing the brake when torque balance is determined.
In the method shown above, the ramp condition includes: an uphill condition and a downhill condition;
the determining the current road condition of the vehicle comprises the following steps:
acquiring current gradient information and the heading of a vehicle;
when the current gradient information is smaller than or equal to a preset gradient threshold value, determining that the current road working condition of the vehicle is a flat road working condition;
when the current gradient information is larger than the preset gradient threshold value and the vehicle head of the vehicle faces upwards, determining that the slope working condition is an uphill working condition;
and when the current gradient information is larger than the preset gradient threshold value and the head of the vehicle faces downwards, determining that the ramp working condition is a downhill working condition.
In the method as described above, when the current road condition is a hill condition, after receiving the shift signal, determining whether the vehicle needs a balancing torque according to the shift signal includes:
when the working condition of the ramp is an uphill working condition, when a signal that a parking gear is changed to a forward gear or a signal that a neutral gear is changed to the forward gear is received, determining that the vehicle needs to balance torque;
when the working condition of the ramp is an uphill working condition, when a signal that a parking gear is converted into a reverse gear or a signal that a neutral gear is converted into the reverse gear is received, determining that the vehicle does not need to balance torque;
when the working condition of the ramp is a downhill working condition, when a signal that a parking gear is converted into a reverse gear or a signal that a neutral gear is converted into the reverse gear is received, determining that the vehicle needs to balance torque;
and when the slope working condition is a downhill working condition and a signal that the parking gear is changed to the forward gear or a signal that the neutral gear is changed to the forward gear is received, determining that the vehicle does not need the balance torque.
In the method as described above, when the current road condition is a flat road condition and a gear shift signal is received, releasing the brake includes:
and when the current road working condition is a flat road working condition, releasing the brake after receiving any one of a parking gear to forward gear signal, a parking gear to reverse gear signal, a parking gear to neutral gear signal, a neutral gear to forward gear signal or a neutral gear to reverse gear signal.
In the method as set forth above, before the releasing the brake, the method further includes:
acquiring a vehicle door state signal;
correspondingly, the releasing the brake includes:
and releasing the brake when the vehicle door state is determined to be the closed state according to the vehicle door state signal.
In a second aspect, an embodiment of the present invention provides a brake release control system, including:
the parking brake system comprises a brake, a vehicle body stabilizing system, a vehicle control unit and an electronic parking brake system; the vehicle control unit and the electronic parking braking system are both connected with the vehicle body stabilizing system; the brake is connected with the electronic parking brake system;
the vehicle control unit is used for sending a gear shifting signal to the vehicle body stabilizing system;
the vehicle body stabilization system is configured to execute the brake release control method according to the first aspect to achieve control of release of the brake by the electronic parking brake system.
In a third aspect, an embodiment of the present invention further provides a brake release control apparatus, including:
the first determining module is used for determining the current road working condition of the vehicle in a brake parking braking state; the current road working condition comprises a flat road working condition and a ramp working condition;
the first release module is used for releasing the brake after receiving a gear shifting signal when the current road working condition is a flat road working condition;
the second determining module is used for determining whether the vehicle needs to balance torque according to the gear shifting signal after receiving the gear shifting signal when the current road working condition is a ramp working condition;
a second release module to release the brake when it is determined that the vehicle does not require balancing torque.
In a fourth aspect, embodiments of the present invention also provide a vehicle including the brake release control system as provided in the second aspect.
In a fifth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the brake release control method provided in the first aspect.
The embodiment of the invention provides a brake release control method, a brake release control system, a brake release control device, a vehicle and a storage medium, wherein the method comprises the following steps: the method comprises the steps of determining the current road working condition of a vehicle in a parking braking state of a brake, wherein the current road working condition comprises a level road working condition and a ramp working condition, releasing the brake after receiving a gear shifting signal when the current road working condition is the level road working condition, determining whether the vehicle needs to balance torque according to the gear shifting signal after receiving the gear shifting signal when the current road working condition is the ramp working condition, and releasing the brake when the vehicle does not need to balance the torque. The brake release control method can adopt different brake release control strategies according to the current road working condition: under the working condition of a flat road, after receiving a gear shifting signal, immediately releasing a brake to realize quick starting; under the working condition of a ramp, after the gear shifting signal is received, when the balance torque is determined not to be needed, the brake is released immediately, smooth, convenient and fast starting without clamping stagnation is realized, and the risk of sudden acceleration is avoided. Therefore, the brake release control method provided by the embodiment can realize efficient, comfortable and safe vehicle starting.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of a brake release control method provided by the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of a brake release control system provided by the present invention;
FIG. 3 is another schematic flow chart diagram of an embodiment of a brake release control method provided by the present invention;
FIG. 4 is a schematic illustration of a vehicle in a flat road condition;
FIG. 5 is a schematic illustration of a vehicle in an uphill condition;
FIG. 6 is a schematic illustration of a vehicle in a downhill condition;
fig. 7 is a schematic structural diagram of an embodiment of a brake release control apparatus provided in the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic flow chart of an embodiment of a brake release control method provided by the present invention. The embodiment is suitable for a scene of controlling the release of the brake in the parking brake state of the brake. The present embodiment may be performed by a brake release control device, which may be implemented in software and/or hardware, which may be integrated in the vehicle. As shown in fig. 1, the brake release control method provided by the present embodiment includes the steps of:
step 101: in the brake parking brake state, the current road condition of the vehicle is determined.
The current road working condition comprises a flat road working condition and a ramp working condition.
Specifically, the vehicle in this embodiment may be a car, a truck, or the like, and this embodiment is not limited thereto. A brake is a component that generates a braking force that counteracts the movement or tendency of movement of the vehicle. The brake in this embodiment may be released under the control of the EPB system in the parking brake state. The brake in this embodiment may be an electronic brake. Illustratively, an electronic caliper.
Fig. 2 is a schematic structural diagram of an embodiment of a brake release control system provided by the present invention. As shown in fig. 2, the present embodiment provides a brake release control system including: ESP21, EPB system 22, vehicle control unit 23, and brake 24. Vehicle control unit 23 and EPB system 22 are connected to ESP 21. Brake 24 is coupled to EPB system 22.
Exemplary, EPB system 22 may also be disposed in ESP 21.
The controller releases ESP21 in the control system may perform steps 101-104 to effect control of the release of brake 24 by EPB system 22. That is, the brake release control device may be provided in the ESP 21. EPB system 22 releases brake 24 under the control of ESP 21.
ESP21 may monitor and obtain the status of the brakes. The state of the brake in the present embodiment includes a parking brake state and a released state. The parking brake state refers to a state in which the brake is in a parking state and is generating a braking force that hinders the movement or tendency of movement of the vehicle, and the release state refers to a state in which the brake is not generating a braking force. In particular to the electronic caliper, the parking braking state refers to the electronic caliper being in a clamped state in the parking state, and the release state refers to the electronic caliper being in an unclamped state.
In the brake park braking state, ESP21 may determine the current road condition of the vehicle.
In one implementation, the current road condition may be determined based on current grade information of the road being traveled. The specific process is as follows: acquiring current gradient information; when the gradient information is smaller than or equal to a preset gradient threshold value, determining that the current road working condition of the vehicle is a flat road working condition; and when the gradient information is greater than the preset gradient threshold value, determining the current road working condition of the vehicle as the ramp working condition.
For example, the preset gradient threshold may be 4%. The current grade information may be determined as a percentage of a ratio of a height difference between two points to a horizontal distance between the two points, which is calculated as follows: the current gradient information is (height difference/horizontal distance) x 100%. The two points can be a point at the head of the vehicle and a point at the tail of the vehicle.
In another implementation, the ramp conditions may include: an uphill condition and a downhill condition. The current road condition can be determined according to the current gradient information of the running road and the direction of the head of the vehicle. The specific process is as follows: acquiring current gradient information and the heading of a vehicle; when the current gradient information is smaller than or equal to a preset gradient threshold value, determining that the current road working condition of the vehicle is a flat road working condition; when the current gradient information is larger than a preset gradient threshold value and the head of the vehicle faces upwards, determining that the working condition of the ramp is an uphill working condition; and when the current gradient information is larger than a preset gradient threshold value and the head of the vehicle faces downwards, determining that the ramp working condition is a downhill working condition.
ESP21 may determine the orientation of the vehicle head based on the corresponding sensors.
Step 102: and when the current road working condition is a flat road working condition, the brake is released after the gear shifting signal is received.
Specifically, the hybrid controller 23 may send a shift signal to the ESP 21. The ESP21 may obtain a shift signal from the vehicle control unit 23. The shift signal in this embodiment refers to a signal to shift from a non-power gear (parking gear, i.e., P gear, or neutral gear, i.e., N gear) to another gear (N gear, forward gear, i.e., D gear, or reverse gear, i.e., R gear).
When the current road working condition is a flat road working condition, the brake is released after any one of a parking gear signal, a neutral gear signal and a neutral gear signal is received.
That is, when the current road condition is a flat road condition, the P gear or the N gear is output, and the brake is released immediately after the gear shifting signal is received. After receiving the throttle signal, the vehicle can be started immediately because the brake is in the release state. The brake is released when the throttle signal is received, so that the problem that the vehicle can be started after the ESP receives the throttle signal and delays for a period of time is solved, and the vehicle starting speed is improved.
Upon release of the controller, ESP21 may send a brake release signal to EPB system 22 to cause EPB system 22 to control brake 24 to be in a released state after receiving the brake release signal.
FIG. 4 is a schematic illustration of a vehicle in a flat road condition. As shown in fig. 4, a diagram shows that a vehicle adopting the brake release control method provided by the embodiment can achieve quick and smooth starting. The b diagram shows that the vehicle adopting the current brake release control method has the defects of starting jamming and low efficiency.
In some vehicles, when the non-power gear is shifted to the power gear, the driver is required to step on the brake pedal to shift gears, so that in order to improve safety, when the current road working condition is a flat road working condition, a gear shifting signal is received, and after the brake pedal signal is received, the brake is released.
The vehicle control unit 23 may acquire the brake pedal signal and send the signal to the ESP 21.
It should be noted that, under a flat road condition, the brake is in a service braking state, and when the gear of the entire vehicle is the D gear or the R gear, after receiving the accelerator signal, the ESP21 may control the brake to release according to the accelerator signal and the gear signal.
Step 103: when the current road working condition is a ramp working condition, after the gear shifting signal is received, whether the vehicle needs to balance the torque is determined according to the gear shifting signal.
Step 104: when it is determined that the vehicle does not require balancing torque, the brakes are released.
Specifically, when the current road condition is a slope condition, because there is a risk of falling down after the brake is immediately released, after receiving a gear shift signal, it is necessary to determine whether the vehicle needs to balance the torque according to the gear shift signal.
One possible decision process is:
when the working condition of the ramp is an uphill working condition, when a signal that a parking gear is changed to a forward gear or a signal that a neutral gear is changed to the forward gear is received, determining that the vehicle needs to balance torque;
when the working condition of the ramp is an uphill working condition, when a signal that a parking gear is converted into a reverse gear or a signal that a neutral gear is converted into the reverse gear is received, determining that the vehicle does not need to balance torque;
when the working condition of the ramp is a downhill working condition, when a signal that a parking gear is converted into a reverse gear or a signal that a neutral gear is converted into the reverse gear is received, determining that the vehicle needs to balance torque;
when the slope working condition is a downhill working condition and a signal that the parking gear is changed to the forward gear or a signal that the neutral gear is changed to the forward gear is received, determining that the vehicle does not need the balance torque.
FIG. 5 is a schematic illustration of a vehicle in an uphill condition. FIG. 6 is a schematic illustration of a vehicle in a downhill condition.
When the vehicle does not need to balance the torque, the brake is released immediately to avoid the situation that the brake is released only after the accelerator signal is received, on one hand, starting is slow, on the other hand, starting is unsmooth, a sudden acceleration risk exists, and safety is low. For example, when the vehicle runs on an uphill, the brake is released immediately when a signal that the P gear is changed to the R gear is received, and after the accelerator signal is received, the brake is in a release state, so that smooth, convenient and non-clamping starting can be realized. If according to the current brake release strategy, in the uphill working condition, after the P gear is changed to the R gear and the throttle signal is received, the brake is released, because the release of the brake has inherent duration, the brake is suddenly released after the inherent duration, the starting is slow and unsmooth, and because the gear is changed to the R gear in the uphill working condition, namely the vehicle needs to be backed up along the downhill (from high to low), and after the brake is suddenly released and the throttle signal exists, the risk of sudden acceleration exists, and the potential safety hazard is high.
Further, when it is determined that the vehicle requires a balancing torque, determining whether the torque is balanced according to an output torque of the vehicle and a resistance of the vehicle; when torque balance is determined, the brake is released. The ESP21 may take the output torque from the vehicle controller 23 and calculate the vehicle's resistance based on the current grade information, and release the brakes when the output torque of the vehicle balances the vehicle's resistance. By the implementation mode, the problem that the vehicle slips down on a slope due to the fact that the brake is released immediately after the gear shifting signal is received can be avoided. For example, during the downhill working condition, when a signal of changing from the P gear to the R gear is received, the brake is not released. After the driver steps on the accelerator pedal, the vehicle control unit 23 determines an output torque according to the accelerator signal. ESP21 takes the output torque from vehicle control unit 23 and the vehicle's resistance and releases the brakes when torque balance is determined. If the brake is released according to the current brake release strategy, under the working condition of a downhill slope, the P gear is changed to the R gear, namely the reverse slope (from low to high) is needed, after an accelerator signal is received, the brake is released, and if the torque of the vehicle is unbalanced, the vehicle can slide down the slope due to the fact that the downward resistance is larger than the output torque of the vehicle, and the potential safety hazard is high.
Therefore, when the vehicle needs to balance the torque, the brake is released after the torque balance is determined, and the vehicle can be prevented from sliding down the slope under the condition of the adverse slope, namely, the vehicle is changed from the P gear or the N gear to the D gear in the condition of the uphill slope and from the P gear or the N gear to the R gear in the condition of the downhill slope.
When the vehicle does not need to balance the torque, the brake is released immediately, the brake is switched to the R gear from the P gear or the N gear in the downhill working condition, namely the brake is switched to the D gear from the P gear or the N gear in the uphill working condition, smooth, convenient and non-clamping starting can be realized, the vehicle is prevented from starting slowly, and the risk of sudden acceleration is avoided.
In some vehicles, when the non-power gear is changed to the power gear, the driver is required to step on the brake pedal to realize gear shifting, so that in order to improve safety, when the current road working condition is the ramp working condition, a gear shifting signal is received, the vehicle is determined not to need balance torque, and after the brake pedal signal is received, the brake is released.
Further, to improve safety, ESP21 may obtain a door status signal before releasing the brakes. Correspondingly, with continued reference to fig. 2, the brake release control system further includes a vehicle body controller 25. The vehicle body controller 25 is connected to the ESP21, either directly or via the vehicle control unit 23. The body controller 25 may monitor the door status signal and send it to ESP 21. Based on this implementation, when the brake is released, the brake is released when it is determined from the door state signal that the door state is the closed state. The problem of insecurity caused by releasing the brake after the vehicle door is not closed is avoided, and the starting safety of the vehicle is improved.
For example, the door status signal may be a status signal of a main driving door.
And prompting the driver to close the vehicle door when the vehicle door state is determined to be the open state according to the determined vehicle door state signal. For example, a text prompt is displayed on the meter or center screen: please close the door to release the parking brake. After it is determined that the door is closed, the brake is released. More specifically, the driver may be prompted to close the vehicle door after the driver depresses the accelerator pedal.
After the brake is released, the vehicle control unit selects different torque increasing logics through a gear signal and a gradient signal to realize stable starting.
Fig. 3 is another schematic flow chart of an embodiment of a brake release control method provided by the invention. As shown in fig. 3, this embodiment includes the steps of:
step 301: in the brake parking brake state, the current road condition of the vehicle is determined.
Step 302: when the current road working condition is a flat road working condition, the P gear or the N gear is output, and the brake is released immediately. And the quick start is realized.
Step 303: when the current road working condition is an uphill working condition, the P gear or the N gear is changed into the D gear, and after torque balance is determined, the brake is released. To avoid falling down the slope.
Step 304: when the current road working condition is an uphill working condition, the P gear or the N gear is changed into the R gear, and the brake is released immediately. The smooth and convenient starting without jamming is realized, and the sudden acceleration risk is avoided.
Step 305: when the current road working condition is a downhill working condition, the P gear or the N gear is changed into the R gear, and after torque balance is determined, the brake is released. To avoid falling down the slope.
Step 306: when the current road working condition is a downhill working condition, the P gear or the N gear is changed into the D gear, and the brake is released immediately. The smooth and convenient starting without jamming is realized, and the sudden acceleration risk is avoided.
The brake release control method provided by the embodiment comprises the following steps: the method comprises the steps of determining the current road working condition of a vehicle in a parking braking state of a brake, wherein the current road working condition comprises a level road working condition and a ramp working condition, releasing the brake after receiving a gear shifting signal when the current road working condition is the level road working condition, determining whether the vehicle needs to balance torque according to the gear shifting signal after receiving the gear shifting signal when the current road working condition is the ramp working condition, and releasing the brake when the vehicle does not need to balance the torque. The brake release control method can adopt different brake release control strategies according to the current road working condition: under the working condition of a flat road, after receiving a gear shifting signal, immediately releasing a brake to realize quick starting; under the working condition of a ramp, after the gear shifting signal is received, when the balance torque is determined not to be needed, the brake is released immediately, smooth, convenient and fast starting without clamping stagnation is realized, and the risk of sudden acceleration is avoided. Therefore, the brake release control method provided by the embodiment can realize efficient, comfortable and safe vehicle starting.
Fig. 7 is a schematic structural diagram of an embodiment of a brake release control apparatus provided in the present invention. As shown in fig. 7, the present embodiment provides a brake release control apparatus including: a first determination module 71, a first release module 72, a second determination module 73, and a second release module 74.
The first determination module 71 is configured to determine a current road condition of the vehicle in a brake park brake state.
The current road working condition comprises a flat road working condition and a ramp working condition.
Optionally, the ramp condition comprises: an uphill condition and a downhill condition. The first determining module 71 is specifically configured to: acquiring current gradient information and the heading of a vehicle; when the current gradient information is smaller than or equal to a preset gradient threshold value, determining that the current road working condition of the vehicle is a flat road working condition; when the current gradient information is larger than a preset gradient threshold value and the head of the vehicle faces upwards, determining that the working condition of the ramp is an uphill working condition; and when the current gradient information is larger than a preset gradient threshold value and the head of the vehicle faces downwards, determining that the ramp working condition is a downhill working condition.
The first releasing module 72 is configured to release the brake after receiving the shift signal when the current road condition is a flat road condition.
Optionally, the first releasing module 72 is specifically configured to: when the current road working condition is a flat road working condition, the brake is released after any one of a parking gear signal, a neutral gear signal and a neutral gear signal is received.
The second determining module 73 is configured to determine whether the vehicle needs to balance the torque according to the shift signal after receiving the shift signal when the current road condition is a hill condition.
Optionally, the second determining module 73 is specifically configured to:
when the working condition of the ramp is an uphill working condition, when a signal that a parking gear is changed to a forward gear or a signal that a neutral gear is changed to the forward gear is received, determining that the vehicle needs to balance torque;
when the working condition of the ramp is an uphill working condition, when a signal that a parking gear is converted into a reverse gear or a signal that a neutral gear is converted into the reverse gear is received, determining that the vehicle does not need to balance torque;
when the working condition of the ramp is a downhill working condition, when a signal that a parking gear is converted into a reverse gear or a signal that a neutral gear is converted into the reverse gear is received, determining that the vehicle needs to balance torque;
when the slope working condition is a downhill working condition and a signal that the parking gear is changed to the forward gear or a signal that the neutral gear is changed to the forward gear is received, determining that the vehicle does not need the balance torque.
A second release module 74 releases the brakes when it is determined that the vehicle does not require balancing torque.
Optionally, the apparatus further comprises: a third determining module and a third releasing module.
And the third determination module is used for determining whether the torque is balanced according to the output torque of the vehicle and the resistance of the vehicle when the vehicle is determined to need the balanced torque.
And the third releasing module is used for releasing the brake after the torque balance is determined.
Further, the apparatus further comprises: and the acquisition module is used for acquiring the vehicle door state signal. Correspondingly, in terms of releasing the brake, the first release module 72, the second release module 74 or the third release module is specifically configured to: when the door state is determined to be the closed state according to the door state signal, the brake is released.
The brake release control device provided by the embodiment of the invention can execute the brake release control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
The present invention also provides a vehicle including the brake release control system provided in the embodiment illustrated in fig. 2 and in various alternative implementations.
The present invention also provides a storage medium containing computer-executable instructions which, when executed by a computer processor, perform a brake release control method, the method comprising:
determining the current road working condition of the vehicle in a brake parking braking state; the current road working condition comprises a flat road working condition and a ramp working condition;
when the current road working condition is a flat road working condition, releasing the brake after receiving a gear shifting signal;
when the current road working condition is a ramp working condition, after the gear shifting signal is received, determining whether the vehicle needs to balance torque according to the gear shifting signal;
releasing the brake when it is determined that the vehicle does not require balancing torque.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and can also execute the relevant operations in the brake release control method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a vehicle, or a network device) to execute the brake release control method according to the embodiments of the present invention.
It should be noted that, in the embodiment of the brake release control device, the included units and modules are merely divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A brake release control method, characterized by comprising:
determining the current road working condition of the vehicle in a brake parking braking state; the current road working condition comprises a flat road working condition and a ramp working condition;
when the current road working condition is a flat road working condition, releasing the brake after receiving a gear shifting signal;
when the current road working condition is a ramp working condition, after the gear shifting signal is received, determining whether the vehicle needs to balance torque according to the gear shifting signal;
releasing the brake when it is determined that the vehicle does not require balancing torque.
2. The method of claim 1, wherein after determining whether the vehicle requires balancing torque based on the shift signal, the method further comprises:
when the vehicle is determined to need to balance the torque, determining whether the torque is balanced according to the output torque of the vehicle and the resistance of the vehicle;
releasing the brake when torque balance is determined.
3. The method of claim 1, wherein the ramp condition comprises: an uphill condition and a downhill condition;
the determining the current road condition of the vehicle comprises the following steps:
acquiring current gradient information and the heading of a vehicle;
when the current gradient information is smaller than or equal to a preset gradient threshold value, determining that the current road working condition of the vehicle is a flat road working condition;
when the current gradient information is larger than the preset gradient threshold value and the vehicle head of the vehicle faces upwards, determining that the slope working condition is an uphill working condition;
and when the current gradient information is larger than the preset gradient threshold value and the head of the vehicle faces downwards, determining that the ramp working condition is a downhill working condition.
4. The method of claim 3, wherein determining whether the vehicle requires balancing torque based on the shift signal after receiving the shift signal when the current road condition is a hill condition comprises:
when the working condition of the ramp is an uphill working condition, when a signal that a parking gear is changed to a forward gear or a signal that a neutral gear is changed to the forward gear is received, determining that the vehicle needs to balance torque;
when the working condition of the ramp is an uphill working condition, when a signal that a parking gear is converted into a reverse gear or a signal that a neutral gear is converted into the reverse gear is received, determining that the vehicle does not need to balance torque;
when the working condition of the ramp is a downhill working condition, when a signal that a parking gear is converted into a reverse gear or a signal that a neutral gear is converted into the reverse gear is received, determining that the vehicle needs to balance torque;
and when the slope working condition is a downhill working condition and a signal that the parking gear is changed to the forward gear or a signal that the neutral gear is changed to the forward gear is received, determining that the vehicle does not need the balance torque.
5. The method of any of claims 1-4, wherein releasing the brake upon receiving a shift signal when the current road condition is a level road condition comprises:
and when the current road working condition is a flat road working condition, releasing the brake after receiving any one of a parking gear to forward gear signal, a parking gear to reverse gear signal, a parking gear to neutral gear signal, a neutral gear to forward gear signal or a neutral gear to reverse gear signal.
6. The method of any of claims 1-4, wherein prior to said releasing said brake, said method further comprises:
acquiring a vehicle door state signal;
correspondingly, the releasing the brake includes:
and releasing the brake when the vehicle door state is determined to be the closed state according to the vehicle door state signal.
7. A brake release control system, comprising: the parking brake system comprises a brake, a vehicle body stabilizing system, a vehicle control unit and an electronic parking brake system; the vehicle control unit and the electronic parking braking system are both connected with the vehicle body stabilizing system; the brake is connected with the electronic parking brake system;
the vehicle control unit is used for sending a gear shifting signal to the vehicle body stabilizing system;
the vehicle body stabilization system is used for executing the brake release control method according to any one of claims 1 to 6 to realize control of release of the brake by the electronic parking brake system.
8. A brake release control apparatus, comprising:
the first determining module is used for determining the current road working condition of the vehicle in a brake parking braking state; the current road working condition comprises a flat road working condition and a ramp working condition;
the first release module is used for releasing the brake after receiving a gear shifting signal when the current road working condition is a flat road working condition;
the second determining module is used for determining whether the vehicle needs to balance torque according to the gear shifting signal after receiving the gear shifting signal when the current road working condition is a ramp working condition;
a second release module to release the brake when it is determined that the vehicle does not require balancing torque.
9. A vehicle characterized by comprising the brake release control system according to claim 7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the brake release control method according to any one of claims 1-6.
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| CN202010398866.8A CN111572513A (en) | 2020-05-12 | 2020-05-12 | Brake release control method, system, device, vehicle and storage medium |
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| CN202010398866.8A CN111572513A (en) | 2020-05-12 | 2020-05-12 | Brake release control method, system, device, vehicle and storage medium |
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